CN110244774A - A kind of moving base plays the decoupling method and device of perpendicular slewing equipment aiming - Google Patents
A kind of moving base plays the decoupling method and device of perpendicular slewing equipment aiming Download PDFInfo
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- CN110244774A CN110244774A CN201910292300.4A CN201910292300A CN110244774A CN 110244774 A CN110244774 A CN 110244774A CN 201910292300 A CN201910292300 A CN 201910292300A CN 110244774 A CN110244774 A CN 110244774A
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Abstract
The embodiment of the present invention discloses a kind of decoupling method and device that the perpendicular slewing equipment of moving base aims at, which comprises obtains the current Angle of Heel of pedestal, current Angle of Trim, current y-azimuth in real time；According to actual loading angular elevation, azimuth of target, the current Angle of Heel of the pedestal, the current Angle of Trim, the current y-azimuth, using decoupling algorithm, the target for calculating elevating mechanism in real time relative to steering wheel plays the target angle of revolution of vertical angle, steering wheel relative to pedestal；It obtains in real time and currently plays vertical angle, current angle of revolution, using target plays vertical angle, target angle of revolution has carried out perpendicular as target and turns round model- following control；According to the current Angle of Heel of pedestal, the current Angle of Trim, current y-azimuth, currently the vertical angle, the current angle of revolution, using decoupling algorithm, the current angle of site of real-time computational load, present orientation angle, as the judgment basis for whether allowing to emit.
Description
Technical field
The present invention relates to moving base method of sight, and in particular to one kind rises and erects back for rolling, pitching, preceding rocking base
The decoupling method and device that rotary device aims at.
Background technique
Moving base aiming is mainly used in Radar Servo control system, Canon launching control system, MISSILE LAUNCHING control system
System etc., by two elevating mechanism, steering wheel freedom degree movements, drives radar, cannon, guided missile etc. negative using perpendicular slewing equipment is played
Load reaches object attitude angle (i.e. angular elevation and azimuth of target).
Due to the rolling of moving base, pitching, it is preceding shake, shadow is caused to the attitude angles such as height, orientation for playing perpendicular slewing equipment
It rings, control system driving elevating mechanism and steering wheel is needed to aim at tracking in real time near object attitude angle, until work is completed,
This is a kind of moving base aiming control, it is desirable that it is stable under a large load, and there is good dynamic characteristic.Due to rolling, indulge it is distant
Biggish inclination angle is caused to perpendicular slewing equipment pedestal is played, just there can be biggish coupling with orientation both direction, fill
While setting angle of site variation, azimuth also changes therewith, if directly using the real-time angle of site of device, azimuth as benchmark
Perpendicular revolution control has been carried out, then be difficult to make height and orientation both direction while having met required precision.
Summary of the invention
In view of this, the embodiment of the present invention provides a kind of decoupling method, device that the perpendicular slewing equipment of moving base aims at,
It can adapt to moving base and play perpendicular slewing equipment aiming demand for control.
A kind of moving base plays the decoupling method of perpendicular slewing equipment aiming, comprising:
Step S1 obtains the current Angle of Heel of pedestal, current Angle of Trim, current y-azimuth in real time；
Step S2, according to actual loading angular elevation, azimuth of target, the current Angle of Heel of the pedestal, described current
Angle of Trim, the current y-azimuth, using decoupling algorithm, the target for calculating elevating mechanism in real time relative to steering wheel is perpendicular
The target angle of revolution of angle, steering wheel relative to pedestal；
Step S3 is obtained currently play vertical angle, current angle of revolution in real time, plays vertical angle, target angle of revolution as target using target
It has carried out perpendicular and has turned round model- following control；
Step S4, according to the current Angle of Heel of pedestal, the current Angle of Trim, current y-azimuth, institute
It states and currently plays vertical angle, the current angle of revolution, using decoupling algorithm, the current angle of site of real-time computational load, present orientation angle,
As the judgment basis for whether allowing to emit.
The step S1 specifically:
Control system is used to group by laser, measures the current Angle of Heel, current Angle of Trim, current longitudinal axis side of pedestal in real time
Parallactic angle.
The step S2 specifically:
Known target angle of site θm, azimuth of targetThe current y-azimuth of pedestalThe current Angle of Trim of pedestal
The current Angle of Heel δ of γ, pedestal asks elevating mechanism to play vertical angle β relative to the target of steering wheel using following formulam, steering wheel for
The target angle of revolution α of pedestalm:
Steering wheel target angle of revolution:
Elevating mechanism target plays vertical angle:
The step S3 specifically:
Control system measures elevating mechanism relative to revolving platform and currently plays vertical angle, by returning by playing perpendicular angular transducer
Angle of revolution sensor measures current angle of revolution of the steering wheel relative to pedestal；
It plays perpendicular angular transducer and has been installed on prick ear axis, angle of revolution sensor is installed on the centre of gyration；Vertical angle degree is played to pass
Sensor and angle of revolution sensor are absolute transducer, and the zero setting in the case where loading back level state in advance；
Playing vertical angle by target is target, on the basis of current vertical angle, carries out pitch orientation to elevating mechanism and follows closed loop control
System；It is target, on the basis of current angle of revolution by target angle of revolution, gyratory directions is carried out to steering wheel and follow closed-loop control.
The step S4 specifically:
Control system follows in closed loop control process playing perpendicular, revolution, according to the current Angle of Heel of emitter pedestal, when
Preceding Angle of Trim, current y-azimuth, launcher currently play the current angle of revolution of vertical angle, revolving platform, and real time settlement launcher is current
The angle of site, present orientation angle；And be compared with angular elevation, azimuth of target, difference is stablized in precision interval, i.e.,
Allow to start work.
The step S4 specifically:
The known current y-azimuth of pedestalThe current Angle of Trim γ of pedestal, the current Angle of Heel δ of pedestal, elevating mechanism are current
Vertical angle β, the current angle of revolution α of steering wheel are played, the current angle of site θ of load, present orientation angle are asked using following formula
Load present orientation angle:
Load the current angle of site:
θ=Arcsin (cos α cos β sin δ+cos γ sin β cos δ+cos β sin α cos δ sin λ).
A kind of moving base plays the decoupling device of perpendicular slewing equipment aiming, comprising:
Acquiring unit obtains the current Angle of Heel of pedestal, current Angle of Trim, current y-azimuth in real time；
Computing unit according to actual loading angular elevation, azimuth of target, the current Angle of Heel of the pedestal, described is worked as
Preceding Angle of Trim, the current y-azimuth, using decoupling algorithm, the target for calculating elevating mechanism in real time relative to steering wheel is risen
The target angle of revolution of vertical angle, steering wheel relative to pedestal；
Control unit obtains currently play vertical angle, current angle of revolution in real time, plays vertical angle, target angle of revolution as mesh using target
Mark has carried out perpendicular and has turned round model- following control；
Judging unit, according to the current Angle of Heel of pedestal, the current Angle of Trim, current y-azimuth,
It is described currently to play vertical angle, the current angle of revolution, using decoupling algorithm, the current angle of site of real-time computational load, present orientation
Angle, as the judgment basis for whether allowing to emit.
The acquiring unit specifically:
Control system is used to group by laser, measures the current Angle of Heel, current Angle of Trim, current longitudinal axis side of pedestal in real time
Parallactic angle.
In the present invention, for perpendicular slewing equipment is played when waving, propose that a kind of moving base plays perpendicular slewing equipment and aims at
Decoupling algorithm, can satisfy real-time high-precision aim at tracing control demand.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will to embodiment or
Attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
Some embodiments of the present invention, for those of ordinary skill in the art, without creative efforts, also
Other attached drawings can be obtained according to these attached drawings.
Fig. 1 is a kind of schematic diagram for the decoupling method that the perpendicular slewing equipment of moving base aims at described in the embodiment of the present invention；
Fig. 2 is a kind of signal for the decoupling method that the perpendicular slewing equipment of moving base aims at described in application scenarios of the present invention
Figure；
Fig. 3 is that target plays vertical angle, target angle of revolution real-time resolving schematic diagram in the present invention；
Fig. 4 is the current angle of site, present orientation angle real-time resolving schematic diagram in the present invention；
Fig. 5 is that the angle of site, azimuth schematic diagram are loaded in the present invention
Fig. 6 is that elevating mechanism plays vertical angle, steering wheel angle of revolution schematic diagram in the present invention；
Fig. 7 is pedestal Angle of Trim, Angle of Heel schematic diagram in the present invention；
Fig. 8 is pedestal y-azimuth in the present invention, load azimuth schematic diagram
Fig. 9 is that the present invention is the connection that a kind of moving base of the present invention plays the decoupling device that perpendicular slewing equipment aims at
Schematic diagram.
Specific embodiment
The embodiment of the present invention is described in detail with reference to the accompanying drawing.
As shown in Figure 1, for a kind of decoupling method that the perpendicular slewing equipment of moving base aims at of the present invention, comprising:
Step S1 obtains the current Angle of Heel of pedestal, current Angle of Trim, current y-azimuth in real time；
Step S2, according to actual loading angular elevation, azimuth of target, the current Angle of Heel of the pedestal, described current
Angle of Trim, the current y-azimuth, using decoupling algorithm, the target for calculating elevating mechanism in real time relative to steering wheel is perpendicular
The target angle of revolution of angle, steering wheel relative to pedestal；
Step S3 is obtained currently play vertical angle, current angle of revolution in real time, plays vertical angle, target angle of revolution as target using target
It has carried out perpendicular and has turned round model- following control；
Step S4, according to the current Angle of Heel of pedestal, the current Angle of Trim, current y-azimuth, institute
It states and currently plays vertical angle, the current angle of revolution, using decoupling algorithm, the current angle of site of real-time computational load, present orientation angle,
As the judgment basis for whether allowing to emit.
The step S1 specifically:
Control system is used to group by laser, measures the current Angle of Heel, current Angle of Trim, current longitudinal axis side of pedestal in real time
Parallactic angle.
The step S2 specifically:
Known target angle of site θm, azimuth of targetThe current y-azimuth of pedestalThe current Angle of Trim of pedestal
The current Angle of Heel δ of γ, pedestal asks elevating mechanism to play vertical angle β relative to the target of steering wheel using following formulam, steering wheel for
The target angle of revolution α of pedestalm:
Steering wheel target angle of revolution:
Elevating mechanism target plays vertical angle:
The step S3 specifically:
Control system measures elevating mechanism relative to revolving platform and currently plays vertical angle, by returning by playing perpendicular angular transducer
Angle of revolution sensor measures current angle of revolution of the steering wheel relative to pedestal；
It plays perpendicular angular transducer and has been installed on prick ear axis, angle of revolution sensor is installed on the centre of gyration；Vertical angle degree is played to pass
Sensor and angle of revolution sensor are absolute transducer, and the zero setting in the case where loading back level state in advance；
Playing vertical angle by target is target, on the basis of current vertical angle, carries out pitch orientation to elevating mechanism and follows closed loop control
System；It is target, on the basis of current angle of revolution by target angle of revolution, gyratory directions is carried out to steering wheel and follow closed-loop control.
The step S4 specifically:
Control system follows in closed loop control process playing perpendicular, revolution, according to the current Angle of Heel of emitter pedestal, when
Preceding Angle of Trim, current y-azimuth, launcher currently play the current angle of revolution of vertical angle, revolving platform, and real time settlement launcher is current
The angle of site, present orientation angle；And be compared with angular elevation, azimuth of target, difference is stablized in precision interval, i.e.,
Allow to start work.
The step S4 specifically:
The known current y-azimuth of pedestalThe current Angle of Trim γ of pedestal, the current Angle of Heel δ of pedestal, elevating mechanism are current
Vertical angle β, the current angle of revolution α of steering wheel are played, the current angle of site θ of load, present orientation angle are asked using following formula
Load present orientation angle:
Load the current angle of site:
θ=Arcsin (cos α cos β sin δ+cos γ sin β cos δ+cos β sin α cos δ sin λ).
The present invention has been directed to perpendicular slewing equipment when waving, and real-time high-precision aims at tracing control demand, proposes one
Kind moving base plays the decoupling algorithm that perpendicular slewing equipment aims at, and brings for overcoming pedestal to wave to a perpendicular slewing equipment attitude angle
Influence, improve pointing accuracy, while solving under pedestal high inclination-angle, the coupling for playing perpendicular slewing equipment height, two direction of orientation is asked
Topic.
Application scenarios of the present invention are described below.
The installation site of measuring cell is described below
Setting laser used group measurement the pedestal y-azimuth, pedestal Angle of Heel, pedestal on playing perpendicular slewing equipment pedestal
Angle of Trim, the used group longitudinal axis of laser are overlapped with the pedestal longitudinal axis
Pivoting support is installed between pedestal and steering wheel, and is returned in centre of gyration setting angle of revolution sensor measurement
Rotation of rotary table angle
Vertical angle degree sensor measurement elevating mechanism has been arranged on playing prick ear axis and has played vertical angle for installation height machine on steering wheel
Then, coordinate system, angle are defined
Earth coordinates define OXYZ
Origin O is located at steering wheel center, and OX is directed toward due east and is parallel to the horizontal plane, OY be directed toward due north be parallel to the horizontal plane, with
OX is vertical, in OZ direction, vertical level.
Base coordinate system defines OX1Y1Z1
Origin O is located at steering wheel center,
It is anteriorly seen by pedestal rear portion, pedestal horizontal axis OX1It is parallel with steering wheel mounting surface on the right side of indicator device.Pedestal is vertical
Axis OY1It is parallel with steering wheel mounting surface perpendicular slewing equipment front is directed toward, pedestal vertical shaft OZ1In direction, vertical direction machine installation
Face.
Load angle of site θ:
Longitudinal axis angle with horizontal plane is loaded, sees Fig. 5.The load longitudinal axis is 0 degree when being in horizontal plane, loads inclination upwards and is
Just, load, which tilts down, is negative.
Load azimuth
The load longitudinal axis projects in the horizontal plane and positive north orientation angle, sees Fig. 8.Loading longitudinal axis projection and being directed toward due north is 0 degree,
Due east is 90 degree, and due south is 180 degree, and due west is 270 degree.
Elevating mechanism plays vertical angle β:
The angle that elevating mechanism is turned over when playing perpendicular around trunnion, is shown in Fig. 6.It is measured with perpendicular angular transducer device is played.
The elevating mechanism longitudinal axis parallel with pedestal is zero, is switched to upwards around trunnion just, otherwise is negative.
Steering wheel angle of revolution α:
The steering wheel angle that wraparound turntable center axis in position turns in revolution phase pair, is shown in Fig. 6.It is sensed with angle of revolution
Device measurement.
It is anteriorly seen by pedestal rear portion, steering wheel is zero at middle position, turns right and is positive, otherwise is negative.
Pedestal Angle of Trim γ:
The angle of the pedestal longitudinal axis and horizontal plane, is shown in Fig. 7.
It is anteriorly seen by pedestal rear portion, the front is high and the back is low is positive for the pedestal longitudinal axis, otherwise is negative.
Pedestal Angle of Heel δ:
The angle of pedestal horizontal axis and horizontal plane, is shown in Fig. 7.
It is anteriorly seen by pedestal rear portion, pedestal horizontal axis right low left high is positive, otherwise is negative.
Pedestal y-azimuth
The pedestal longitudinal axis projects in the horizontal plane and positive north orientation angle, sees Fig. 8.With the used group measurement of laser.
It is 0 degree that due north is directed toward in the projection of the pedestal longitudinal axis, and due east is 90 degree, and due south is 180 degree, and due west is 270 degree.
As shown in Fig. 2, playing the decoupling algorithm that perpendicular slewing equipment aims at, packet for moving base a kind of in application scenarios of the present invention
It includes:
Step S1 obtains pedestal Angle of Heel, Angle of Trim, y-azimuth in real time.Concrete methods of realizing is as follows:
Control system measures pedestal current pose angle, the i.e. current Angle of Heel of pedestal, current trim by the used group of laser in real time
Angle, current y-azimuth.Laser is used to group and has been installed on perpendicular slewing equipment pedestal, the used group longitudinal axis of laser and pedestal longitudinal axis weight
It closes.
Step S2, according to actual loading angular elevation, azimuth of target, the current Angle of Heel of pedestal, current Angle of Trim,
Current y-azimuth, using decoupling algorithm, the target for calculating elevating mechanism in real time relative to steering wheel plays vertical angle, steering wheel phase
For the target angle of revolution of pedestal.Concrete methods of realizing is as follows:
After control system receives angular elevation, azimuth of target, according to the current Angle of Heel of pedestal, current Angle of Trim,
Current y-azimuth, during aiming follows, real-time resolving elevating mechanism plays vertical angle, direction relative to the target of steering wheel
Target angle of revolution of the machine relative to pedestal, target plays vertical angle and target angle of revolution changes with pedestal attitudes vibration, but without coupling
Effect.See Fig. 2.
Known target angle of site θm, azimuth of targetThe current y-azimuth of pedestalThe current Angle of Trim of pedestal
γ, the current Angle of Heel δ of pedestal ask elevating mechanism target to play vertical angle βm, steering wheel target angle of revolution αm。
Steering wheel target angle of revolution:
Elevating mechanism target plays vertical angle:
Step S3 is obtained currently play vertical angle, current angle of revolution in real time, plays vertical angle, target angle of revolution as target using target
It has carried out perpendicular and has turned round model- following control.Concrete methods of realizing is as follows:
The currently vertical angle that control system measures elevating mechanism relative to revolving platform by playing perpendicular angular transducer, by returning
Angle of revolution sensor measures current angle of revolution of the steering wheel relative to pedestal.It plays perpendicular angular transducer and has been installed on prick ear axis, return
Angle of revolution sensor is installed on the centre of gyration.It plays perpendicular angular transducer and angle of revolution sensor is absolute transducer, and is pre-
The first zero setting in the case where loading back level state.
It is risen by target and closed-loop control is followed to elevating mechanism progress pitch orientation on the basis of vertical angle is target, currently plays vertical angle；
It is target, closed-loop control is followed to steering wheel progress gyratory directions on the basis of current angle of revolution by target angle of revolution.Pitch orientation
Without coupling between gyratory directions, therefore when carrying out two direction controllings respectively, vertical angle is played, angle of revolution will not interact.
Step S4 according to current pedestal Angle of Heel, current Angle of Trim, current y-azimuth, currently plays vertical angle, current
Angle of revolution, using the current angle of site of the real-time computational load of decoupling algorithm, present orientation angle, as the judgement for whether allowing to emit
Foundation.Concrete methods of realizing is as follows:
Control system follows in closed loop control process playing perpendicular, revolution, according to the current Angle of Heel of emitter pedestal, when
Preceding Angle of Trim, current y-azimuth, launcher currently play the current angle of revolution of vertical angle, revolving platform, and real time settlement launcher is current
The angle of site, present orientation angle, and be compared with angular elevation, azimuth of target, difference is stablized to be permitted in precision interval
Perhaps start work.See Fig. 3.Precision interval can according to circumstances be set.
The known current y-azimuth of pedestalThe current Angle of Trim γ of pedestal, the current Angle of Heel δ of pedestal, elevating mechanism are current
Vertical angle β, the current angle of revolution α of steering wheel are played, the current angle of site θ of load, present orientation angle are asked
Load present orientation angle:
Load the current angle of site:
θ=Arcsin (cos α cos β sin δ+cos γ sin β cos δ+cos β sin α cos δ sin λ)
The invention has the following advantages:
A) it can adapt to moving base and play perpendicular slewing equipment aiming demand for control；
B) overcoming pedestal to wave influences load attitude angle bring；
C) it solves under pedestal inclination angle, loads the coupled problem of height, two direction of orientation.
As shown in figure 9, for a kind of decoupling device that the perpendicular slewing equipment of moving base aims at of the present invention, comprising:
Acquiring unit 91 obtains the current Angle of Heel of pedestal, current Angle of Trim, current y-azimuth in real time；
Computing unit 92, according to actual loading angular elevation, azimuth of target, the current Angle of Heel of the pedestal, described
Current Angle of Trim, the current y-azimuth calculate target of the elevating mechanism relative to steering wheel using decoupling algorithm in real time
Play the target angle of revolution of vertical angle, steering wheel relative to pedestal；
Control unit 93, in real time obtain currently rise vertical angle, current angle of revolution, using target rise vertical angle, target angle of revolution as
Target has carried out perpendicular and has turned round model- following control；
Judging unit 94, according to the current Angle of Heel of pedestal, the current Angle of Trim, current longitudinal axis orientation
Angle, it is described currently play vertical angle, the current angle of revolution, using decoupling algorithm, front is worked as in the current angle of site of real-time computational load
Parallactic angle, as the judgment basis for whether allowing to emit.
The acquiring unit 91 specifically:
Control system is used to group by laser, measures the current Angle of Heel, current Angle of Trim, current longitudinal axis side of pedestal in real time
Parallactic angle.
It will be appreciated that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Based on the embodiments of the present invention, institute obtained by those of ordinary skill in the art without making creative efforts
There are other embodiments, shall fall within the protection scope of the present invention.
For convenience of description, description apparatus above is to be divided into various units/modules with function to describe respectively.Certainly, exist
Implement to realize each unit/module function in the same or multiple software and or hardware when the present invention.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can
It is completed with instructing relevant hardware by computer program, the program can be stored in a computer-readable storage
In medium, the program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein, the storage medium can
For magnetic disk, CD, read-only memory (Read-Only Memory, ROM) or random access memory (Random
Access Memory, RAM) etc..
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, appoints
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of, all by what those familiar with the art
It is covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with scope of protection of the claims
It is quasi-.
Claims (8)
1. a kind of moving base plays the decoupling method that perpendicular slewing equipment aims at characterized by comprising
Step S1 obtains the current Angle of Heel of pedestal, current Angle of Trim, current y-azimuth in real time；
Step S2, according to actual loading angular elevation, azimuth of target, the current Angle of Heel of the pedestal, the current trim
Angle, the current y-azimuth, using decoupling algorithm, the target for calculating elevating mechanism in real time relative to steering wheel plays vertical angle, side
Target angle of revolution to machine relative to pedestal；
Step S3 is obtained currently play vertical angle, current angle of revolution in real time, is played vertical angle, target angle of revolution as target using target and is carried out
Play perpendicular and revolution model- following control；
Step S4 according to the current Angle of Heel of pedestal, the current Angle of Trim, current y-azimuth, described works as
Preceding vertical angle, the current angle of revolution, using decoupling algorithm, the current angle of site of real-time computational load, present orientation angle, as being
The no judgment basis for allowing to emit.
2. the method according to claim 1, wherein the step S1 specifically:
Control system is used to group by laser, measures the current Angle of Heel, current Angle of Trim, current y-azimuth of pedestal in real time.
3. the method according to claim 1, wherein the step S2 specifically:
Known target angle of site θm, azimuth of targetThe current y-azimuth of pedestalThe current Angle of Trim γ of pedestal, pedestal
Current Angle of Heel δ asks elevating mechanism to play vertical angle β relative to the target of steering wheel using following formulam, mesh of the steering wheel for pedestal
Mark angle of revolution αm:
Steering wheel target angle of revolution:
Elevating mechanism target plays vertical angle:
4. the method according to claim 1, wherein the step S3 specifically:
Control system measures elevating mechanism relative to revolving platform and currently plays vertical angle, pass through angle of revolution by playing perpendicular angular transducer
Sensor is spent, current angle of revolution of the steering wheel relative to pedestal is measured；
It plays perpendicular angular transducer and has been installed on prick ear axis, angle of revolution sensor is installed on the centre of gyration；Play perpendicular angular transducer
It is absolute transducer, and the zero setting in the case where loading back level state in advance with angle of revolution sensor；
Playing vertical angle by target is target, on the basis of current vertical angle, carries out pitch orientation to elevating mechanism and follows closed-loop control；With mesh
Mark angle of revolution is target, on the basis of current angle of revolution, carries out gyratory directions to steering wheel and follows closed-loop control.
5. the method according to claim 1, wherein the step S4 specifically:
Control system follows in closed loop control process in a perpendicular, revolution, according to the current Angle of Heel of emitter pedestal, current trim
The current angle of revolution of vertical angle, revolving platform is currently played at angle, current y-azimuth, launcher, the current angle of site of real time settlement launcher,
Present orientation angle；And be compared with angular elevation, azimuth of target, difference is stablized in precision interval, that is, allows to start
Work.
6. according to the method described in claim 5, it is characterized in that, the step S4 specifically:
The known current y-azimuth of pedestalThe current Angle of Trim γ of pedestal, the current Angle of Heel δ of pedestal, elevating mechanism currently rises perpendicular
Angle beta, the current angle of revolution α of steering wheel ask the current angle of site θ of load, present orientation angle using following formula
Load present orientation angle:
Load the current angle of site:
θ=Arcsin (cos α cos β sin δ+cos γ sin β cos δ+cos β sin α cos δ sin λ).
7. a kind of moving base plays the decoupling device that perpendicular slewing equipment aims at characterized by comprising
Acquiring unit obtains the current Angle of Heel of pedestal, current Angle of Trim, current y-azimuth in real time；
Computing unit, according to actual loading angular elevation, azimuth of target, the current Angle of Heel of the pedestal, described current vertical
Inclination angle, the current y-azimuth, using decoupling algorithm, calculate in real time elevating mechanism relative to the target of steering wheel rise vertical angle,
Target angle of revolution of the steering wheel relative to pedestal；
Control unit, in real time obtain currently rise vertical angle, current angle of revolution, using target rise vertical angle, target angle of revolution as target into
It has gone and has erected and turn round model- following control；
Judging unit, according to the current Angle of Heel of pedestal, the current Angle of Trim, current y-azimuth, described
Vertical angle, the current angle of revolution are currently played, using decoupling algorithm, the current angle of site of real-time computational load, present orientation angle, as
Whether the judgment basis that emits is allowed.
8. device according to claim 7, which is characterized in that the acquiring unit specifically:
Control system is used to group by laser, measures the current Angle of Heel, current Angle of Trim, current y-azimuth of pedestal in real time.
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Cited By (1)
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| CN110716498A (en) * | 2019-10-30 | 2020-01-21 | 北京航天发射技术研究所 | Sensor control method and device for vehicle-mounted erecting frame |
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